Simultaneous design of parameters and controller of robotic manipulators: closed loop approach to practical implementation

Moradi, Morteza; Naraghi, Mohammad

doi:10.1080/01691864.2017.1421097

Cited by 5 publications

(2 citation statements)

References 26 publications

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“…Recently, this approach has received a lot of attention in the field of robotics. Most studies are in the field of motion planning (Fang et al, 2019; Gallant and Gosselin, 2018; Manor et al, 2018; Rahaghi and Barat, 2019; Zheng et al, 2019), dynamic load-carrying capacity (Shafei and Korayem, 2017), and optimal balancing problems (Moradi et al, 2018; Nikoobin and Moradi, 2018).…”

Section: Introductionmentioning

confidence: 99%

A variational approach to determination of maximum throw-able workspace of robotic manipulators in optimal ball pitching motion

Asgari

Nikoobin

2021

Transactions of the Institute of Measurement and Control

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This study is aimed at finding the entire points that a manipulator can launch an object onto by an optimal motion. These points are called throw-able workspace, which are located outside the reachable workspace of the robot. From an optimization point of view, some throwing parameters can be found to decrease motion cost. In this paper, by using this concept, the best combination of throwing and trajectory planning is attempted. The proposed method consists of two basic ideas: first, defining the optimal throwing problem as the optimal control problem (OCP) and solving it using the indirect solution approach based on the fundamental lemma of calculus of variations. To achieve the best release angle and speed, the throwing equation of motion is applied as a moving-end boundary condition (BC). Second, based on the obtained optimal throwing, an algorithm is presented to calculate the maximum throw-able workspace. The simulation results demonstrate the effectiveness of the proposed framework for both single link and spatial two-degree-of-freedom throwing robots.

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Section: Introductionmentioning

confidence: 99%

A variational approach to determination of maximum throw-able workspace of robotic manipulators in optimal ball pitching motion

Asgari

Nikoobin

2021

Transactions of the Institute of Measurement and Control

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“…The optimality conditions are derived using the closed-loop optimal control theory. 26 They developed their work for a repetitive full-cycle motion of robot manipulators including different subtasks. The entire cycle of motion is considered an optimal balancing problem.…”

Section: Introductionmentioning

confidence: 99%

Perfect Torque Compensation of Planar 5R Parallel Robot in Point-to-Point Motions, Optimal Control Approach

2020

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SUMMARY In this paper, a new approach is presented for perfect torque compensation of the robot in point-to-point motions. The proposed method is formulated as an open-loop optimal control problem. The problem is defined as optimal trajectory planning with adjustable design parameters to compensate applied torques of a planar 5R parallel robot for a given task, perfectly. To illustrate the effectiveness of the approach, the obtained optimal path is used as the reference command in the experiment. The experimental outputs show that the performance index has been reduced by over 80% compared to the typical design of the robot.

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Zero-power balancing a two-link robot manipulator for a predefined point-to-point task

2020

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Simultaneous design of parameters and controller of robotic manipulators: closed loop approach to practical implementation

Cited by 5 publications

References 26 publications

A variational approach to determination of maximum throw-able workspace of robotic manipulators in optimal ball pitching motion

A variational approach to determination of maximum throw-able workspace of robotic manipulators in optimal ball pitching motion

Perfect Torque Compensation of Planar 5R Parallel Robot in Point-to-Point Motions, Optimal Control Approach

Zero-power balancing a two-link robot manipulator for a predefined point-to-point task

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